Comparative Study Collision Avoidance Algorithm for Cooperative Systems

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Shamlou, Saeed | 2011

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 41478 (05)
University: Sharif University and Technology
Department: Electrical Engineering
Advisor(s): Haeri, Mohammad
Abstract:
Cooperative system is a system in which agents jointly try to reach a common goal. In order to achieve the desirable goal, a cooperative system needs some conditions such as agents moving as a flock and avoiding to conflict with each other and obstacles. Collision avoidance is one of the most important and notable factor in cooperative systems. This issue has been addressed by many researchers and different solutions have been proposed so far. In this thesis, existing methods and algorithms are studied. Among these algorithms two well-known ones have been investigated having considered their advantages and disadvantages in more detail. Some improvements on these two algorithms are proposed as well. By taking advantage of the considered methods, a new method for collision/obstacle avoidance problem in cooperative systems is introduced. Finally the improved methods are compared with the existing solutions based on the large amount of computer simulation results
Keywords:
Obstacle Avoidance ; Consensus ; Cooperative System ; Collision Avoidance

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